It is highly desirable that an imaging system has a single effective viewpoint. Central catadioptric systems are imaging systems that use mirrors to enhance the field of view while keeping a unique center of projection. A general model for central catadioptric image formation has already been established. The present paper exploits this model to study the catadioptric projection of lines. The equations and geometric properties of general catadioptric line imaging are derived. We show that it is possible to determine the position of both the effective viewpoint and the absolute conic in the catadioptric image plane from the images of three lines. It is also proved that it is possible to identify the type of catadioptric system and the position of the line at infinity without further information. A methodology for central catadioptric system calibration is proposed. Reconstruction aspects are discussed. Experimental results are presented. All the results presented are original and completely new.
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